Implement tiled kernels for CG solver#1399
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…lize parameters and adjust launch arguments
thowell
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Jun 3, 2026
thowell
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Jun 3, 2026
thowell
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thowell
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thowell
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thowell
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thowell
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# Conflicts: # mujoco_warp/_src/solver.py
thowell
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thowell
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thowell
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thowell
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thowell
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thowell
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thowell
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thowell
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Nice result on cloth, and I traced the CG path as functionally correct — the prev_grad/prev_Mgrad relocation, the fused solve_cg_finalize, and the reordered done-check are all equivalent to the kernels they replace.
A few cleanups I'd like before merge; inline comments cover the rest:
- Dead kernel
_solve_prev_grad_Mgrad(solver.py:3152) is no longer launched anywhere — the per-iteration prev_grad/prev_Mgrad snapshot now happens inside_solve_init_search_cg_tiledand_solve_search_update_cg_tiled. No remaining references repo-wide (only the_islandvariant is still used). Please remove. - Dead kernel
_solve_beta_finalize(solver.py:3247) — its logic is now inlined into solve_cg_finalize (step 1) and it is no longer launched. Please remove.
thowell
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